Process and apparatus for controlling in closed loop a motion quantity representing vehicle motion

Abstract

An apparatus and a process for closed loop control of a motion quantity representing the vehicle motion which means determine the yaw rate of the vehicle, the longitudinal speed of the vehicle, and the transverse acceleration of the vehicle. Moreover, the apparatus influences the forward moment and/or the braking moment of individual wheels of the vehicle. The apparatus further determines a transverse acceleration component dependent on the roadway transverse inclination, as well as correcting the transverse acceleration of the vehicle at least as a function of the transverse acceleration component dependent on the roadway transverse inclination. The determination of the transverse acceleration component dependent on the roadway transverse inclination and also the correction of the transverse acceleration of the vehicle as carried out in a stable state of the vehicle characterized by the yaw rate and the transverse acceleration.

What is claimed is:  
     
       1. An apparatus for a closed loop control of a motion quantity indicative of a motion of a vehicle, comprising: 
       means for determining a yaw rate of the vehicle;  
       means for determining a longitudinal speed of the vehicle;  
       means for determining a transverse acceleration of the vehicle;  
       means for determining a stable state of the vehicle, the stable state being determined as a function of at least one of the yaw rate and the transverse acceleration;  
       means for adjusting at least one of a forward moment and a braking moment of at least one wheel of the vehicle;  
       means for determining a first transverse acceleration component, the first transverse acceleration component being a function of a transverse inclination of a roadway; and  
       means for correcting the transverse acceleration of the vehicle as a function of the first transverse acceleration component,  
       wherein the determination of the first transverse acceleration component and the correction of the transverse acceleration are performed in the stable state of the vehicle.  
     
     
       2. The apparatus according to claim  1 , wherein the stable state is determined by a change in the transverse acceleration as a function of a change in the yaw rate. 
     
     
       3. The apparatus according to claim  2 , wherein the transverse acceleration is corrected as a function of at least one of a first comparison of the change in the yaw rate with a third threshold value and a second comparison of the change in the transverse acceleration with a fourth threshold value. 
     
     
       4. The apparatus according to claim  1 , wherein the first transverse acceleration component is determined as a function of the yaw rate, the longitudinal speed and the transverse acceleration, the function expressed by the following equation: 
       
         
             vl *omega− ayin,    
         
       
       where  
       vl is the longitudinal speed;  
       omega is the yaw rate; and  
       ayin is the transverse acceleration,  
       and wherein the yaw rate, the longitudinal speed and the transverse acceleration are determined in the stable state of the vehicle. 
     
     
       5. The apparatus according to claim  1 , further comprising: 
       means for determining a steering angle of a steering wheel in the vehicle; and  
       means for determining a plurality of rotational speeds of a corresponding plurality of wheels of the vehicle.  
     
     
       6. The apparatus according to claim  5 , wherein the means for determining the yaw rate includes at least one of a yaw rate sensor and a first and second transverse acceleration sensor, the first transverse acceleration sensor being disposed in a first location in the vehicle and the second transverse acceleration sensor being disposed in a second location in the vehicle different from the first location, wherein the means for determining the transverse acceleration includes a transverse acceleration sensor, and wherein the longitudinal speed is determined as a function of the plurality of rotational speeds of the corresponding plurality of wheels of the vehicle. 
     
     
       7. The apparatus according to claim  1 , wherein the correction of the transverse acceleration is performed as a function of at least one of a first comparison of a first relationship between the longitudinal speed, the yaw rate, the transverse acceleration, and the first transverse acceleration component with a first threshold value and a second comparison of a second relationship between the longitudinal speed, the yaw rate, the transverse acceleration, and the first transverse acceleration component with a second threshold value, the first relationship being expressed by the following equation: 
       
         
             vl *omega−( ayin+ayoff )  
         
       
       where  
       vl is the longitudinal speed;  
       omega is the yaw rate;  
       ayin is the transverse acceleration; and  
       ayoff is the first transverse acceleration component,  
       and the second relationship being expressed by the following equation: 
       
         
           ( ayin+ayoff )− vl *omega  
         
       
       where  
       vl is the longitudinal speed;  
       omega is the yaw rate;  
       ayin is the transverse acceleration; and  
       ayoff is the first transverse acceleration component.  
     
     
       8. The apparatus according to claim  1 , wherein the transverse acceleration is corrected as a function of the transverse acceleration and the first transverse acceleration component, the function expressed by the following equation: 
       
         
           ayin+ayoff  
         
       
       where  
       ayin is the transverse acceleration; and  
       ayoff is the first transverse acceleration component.  
     
     
       9. The apparatus according to claim  1 , wherein: 
       the adjusting means is controlled as a function of at least the corrected transverse acceleration.  
     
     
       10. A process for a closed loop control of a motion quantity indicative of a motion of a vehicle, the process comprising the steps of: 
       determining a yaw rate of the vehicle;  
       determining a longitudinal speed of the vehicle;  
       determining a transverse acceleration of the vehicle using a transverse acceleration sensor;  
       determining a stable state of the vehicle, the stable state being determined as a function of at least one of the yaw rate and the transverse acceleration;  
       determining a first transverse acceleration component in the stable state, the first transverse acceleration component being a function of a transverse inclination of a roadway and being determined as a function of the yaw rate, the longitudinal speed, and the transverse acceleration; and  
       determining a corrected transverse acceleration of the vehicle in the stable state, the corrected transverse acceleration of the vehicle being a function of the transverse acceleration and the first transverse acceleration component.  
     
     
       11. The process according to claim  3 , wherein the first transverse acceleration component is set to a predetermined value at a starting point of the process. 
     
     
       12. The process according to claim  11 , wherein the predetermined value is approximately equal to zero. 
     
     
       13. An apparatus for a closed loop control of a motion quantity indicative of a motion of a vehicle, comprising: 
       an arrangement for determining a yaw rate of the vehicle;  
       an arrangement for determining a longitudinal speed of the vehicle;  
       an arrangement for determining a transverse acceleration of the vehicle using a transverse acceleration sensor;  
       an arrangement for determining a stable state of the vehicle, the stable state being determined as a function of at least one of the yaw rate and the transverse acceleration;  
       an arrangement for determining a first transverse acceleration component in the stable state, the first transverse acceleration component being a function of a transverse inclination of a roadway and being determined as a function of the yaw rate, the longitudinal speed, and the transverse acceleration; and  
       an arrangement for determining a corrected transverse acceleration of the vehicle in the stable state, the corrected transverse acceleration of the vehicle being a function of the transverse acceleration and the first transverse acceleration component.